一种通用的工业机器人位姿检测方法

为满足带有不同末端执行器的工业机器人系统的绝对位姿检测需求，提出一种通用的检测方法。其基本原理是以激光跟踪仪测量固定在机器人末端的4个参考点从而间接测量机器人的绝对位姿，并与指令位姿比较实现机器人位姿准确度和位姿重复性检测；其中，参考点坐标及机座坐标系通过多姿态约束同步标定，并设计非线性标定算法。通过末端带有制孔执行器的KUKA KR210 R2700工业机器人的位姿检测实验表明：该检测方法的准确性可满足机器人位姿检测的需要，且无需特殊的机械工装，具有良好的通用性；基于多姿态约束的非线性标定方法具有良好的鲁棒性，可有效的减小因机器人运动模型不准确引起的标定误差。

A general pose testing method of industrial robot

A general pose testing method of industrial robot is proposed. The basic principle is to use laser tracker to measure the robot’s absolute pose indirectly by measuring 4 reference points fixed on its end, and to compare the real pose with the command pose to test the pose accuracy and repeatability. In this process, the reference points’ coordinates and the robot base coordinate system are calibrated synchronously by multi-pose constrain and a nonlinear calibration algorithm is designed. This testing method is illustrated with a KUKA KR210 R2700 industrial robot with a drilling end effector. The pose accuracy and repeatability of the robot are 0.3 mm and 0.06 mm, which are in accordance with the nominal index. And the coordinate deviation of the tool center point (TCP) from direct measurement is less than 0.015 mm. It is obvious that the testing method is accuracy enough for the requirements of robot pose testing and does not require special mechanical tools. The calibration residual is reduced to 0.35 mm by the nonlinear calibration method. It proves the calibration method has good robustness and can effectively reduce the error caused by inaccurate kinematics model of the robot.